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<div class="header">
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<div class="title">internal.h</div>  </div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> *   * Redistributions in binary form must reproduce the above</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;<span class="comment"> *     copyright notice, this list of conditions and the following</span></div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> *     with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> *   * Neither the name of Willow Garage, Inc. nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> *     contributors may be used to endorse or promote products derived</span></div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;<span class="comment"> *     from this software without specific prior written permission.</span></div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> *  &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;<span class="comment"> *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;<span class="comment"> *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,</span></div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;<span class="comment"> *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT</span></div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;<span class="comment"> *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE</span></div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * @authors: Cedric Cagniart, Koen Buys, Anatoly Baksheev</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_GPU_PEOPLE_INTERNAL_H_</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_GPU_PEOPLE_INTERNAL_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/containers/device_array.h&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/utils/safe_call.hpp&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/label_common.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;<span class="preprocessor">#include &lt;pcl/gpu/people/tree.h&gt;</span></div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160; </div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="keyword">using</span> pcl::gpu::people::NUM_PARTS;</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160; </div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;{</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="keyword">namespace </span>device</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  {</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;float4&gt; <a class="code" href="class_cloud.html">Cloud</a>;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;uchar4&gt; Image;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160; </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;unsigned short&gt; Depth;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;unsigned char&gt;  Labels;      </div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;float&gt;          HueImage;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;unsigned char&gt;  Mask;  </div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160; </div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;    <span class="keyword">typedef</span> DeviceArray2D&lt;char4&gt; MultiLabels;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    <span class="keyword">struct </span>Intr</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;    {</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keywordtype">float</span> fx, fy, cx, cy;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        Intr () {}</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;        Intr (<span class="keywordtype">float</span> fx_, <span class="keywordtype">float</span> fy_, <span class="keywordtype">float</span> cx_, <span class="keywordtype">float</span> cy_) : fx(fx_), fy(fy_), cx(cx_), cy(cy_) {}</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;        <span class="keywordtype">void</span> setDefaultPPIfIncorrect(<span class="keywordtype">int</span> cols, <span class="keywordtype">int</span> rows)</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;        {</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;          cx = cx &gt; 0 ? cx : cols/2 - 0.5f;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;          cy = cy &gt; 0 ? cy : rows/2 - 0.5f;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        }</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;    };</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160; </div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;    <span class="keywordtype">void</span> smoothLabelImage(<span class="keyword">const</span> Labels&amp; src, <span class="keyword">const</span> Depth&amp; depth, Labels&amp; dst, <span class="keywordtype">int</span> num_parts, <span class="keywordtype">int</span>  patch_size, <span class="keywordtype">int</span> depthThres);</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;    <span class="keywordtype">void</span> colorLMap(<span class="keyword">const</span> Labels&amp; labels, <span class="keyword">const</span> DeviceArray&lt;uchar4&gt;&amp; cmap, Image&amp; rgb);</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    <span class="keywordtype">void</span> mixedColorMap(<span class="keyword">const</span> Labels&amp; labels, <span class="keyword">const</span> DeviceArray&lt;uchar4&gt;&amp; map, <span class="keyword">const</span> Image&amp; rgba, Image&amp; output);</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_connected_components.html">   83</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_connected_components.html">ConnectedComponents</a></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    {</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> initEdges(<span class="keywordtype">int</span> rows, <span class="keywordtype">int</span> cols, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned char&gt;</a>&amp; edges);</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;        <span class="comment">//static void computeEdges(const Labels&amp; labels, const Cloud&amp; cloud, int num_parts, float sq_radius, DeviceArray2D&lt;unsigned char&gt;&amp; edges);</span></div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> computeEdges(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>&amp; labels, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <span class="keywordtype">int</span> num_parts, <span class="keywordtype">float</span> sq_radius, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned char&gt;</a>&amp; edges);</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> labelComponents(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;unsigned char&gt;</a>&amp; edges, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">DeviceArray2D&lt;int&gt;</a>&amp; comps);</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    };</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160; </div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;    <span class="keywordtype">void</span> computeCloud(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <span class="keyword">const</span> <a class="code" href="structpcl_1_1device_1_1_intr.html">Intr</a>&amp; intr, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Cloud</a>&amp; cloud);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordtype">void</span> setZero(<a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Mask</a>&amp; mask);</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    <span class="keywordtype">void</span> prepareForeGroundDepth(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth1, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Mask</a>&amp; inverse_mask, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth2);</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;    <span class="keywordtype">float</span> computeHue(<span class="keywordtype">int</span> rgba);</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;    <span class="keywordtype">void</span>  computeHueWithNans(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Image</a>&amp; image, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">HueImage</a>&amp; hue);</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;    <span class="comment">//void shs(const DeviceArray2D&lt;float4&gt; &amp;cloud, float tolerance, const std::vector&lt;int&gt;&amp; indices_in, float delta_hue, Mask&amp; indices_out);</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_dilatation.html">  101</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_dilatation.html">Dilatation</a></div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;    {</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;unsigned char&gt;</a> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Kernel</a>;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keyword">enum</span> </div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;        { </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;          KSIZE_X = 5,</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;          KSIZE_Y = 5,</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;          ANCH_X = KSIZE_X/2,</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;          ANCH_Y = KSIZE_Y/2,</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;        };</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> prepareRect5x5Kernel(<a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Kernel</a>&amp; <a class="code" href="classpcl_1_1kernel.html">kernel</a>);</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keyword">static</span> <span class="keywordtype">void</span> invoke(<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Mask</a>&amp; src, <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">Kernel</a>&amp; <a class="code" href="classpcl_1_1kernel.html">kernel</a>, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Mask</a>&amp; dst);</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;    };</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno"><a class="line" href="structpcl_1_1device_1_1_c_u_d_a_tree.html">  117</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1device_1_1_c_u_d_a_tree.html">CUDATree</a></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;    {</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;        <span class="keyword">typedef</span> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_node.html">pcl::gpu::people::trees::Node</a> <a class="code" href="structpcl_1_1gpu_1_1people_1_1trees_1_1_node.html">Node</a>;</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;        <span class="keyword">typedef</span> pcl::gpu::people::trees::Label Label;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;        <span class="keywordtype">int</span> treeHeight;</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;        <span class="keywordtype">int</span> numNodes;</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;Node&gt;</a> nodes_device;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;Label&gt;</a> leaves_device;</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;        <a class="code" href="structpcl_1_1device_1_1_c_u_d_a_tree.html">CUDATree</a> (<span class="keywordtype">int</span> treeHeight_, <span class="keyword">const</span> std::vector&lt;Node&gt;&amp; nodes, <span class="keyword">const</span> std::vector&lt;Label&gt;&amp; leaves);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    };</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_multi_tree_live_proc.html">  132</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1device_1_1_multi_tree_live_proc.html">MultiTreeLiveProc</a></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;    {</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00136"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#abda82c7e2aa36e862da641753e24d8fd">  136</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#abda82c7e2aa36e862da641753e24d8fd">MultiTreeLiveProc</a>(<span class="keywordtype">int</span> def_rows = 480, <span class="keywordtype">int</span> def_cols = 640) : multilmap (def_rows, def_cols) {}</div>
<div class="line"><a name="l00138"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a9845c8920b1ca801d289772b805a8ab5">  138</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a9845c8920b1ca801d289772b805a8ab5">~MultiTreeLiveProc</a>() {}</div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;        process (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; dmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>&amp; lmap);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00145"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a4ae27fb0d7c4b26900806a450ddd1761">  145</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a4ae27fb0d7c4b26900806a450ddd1761">process</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; dmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>&amp; lmap, <span class="keywordtype">int</span> FGThresh);</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00149"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a84f423562c4d6515ca1c47121bb3ee83">  149</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a84f423562c4d6515ca1c47121bb3ee83">processProb</a> (<span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; dmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>&amp; lmap, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; prob, <span class="keywordtype">int</span> FGThresh);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160; </div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;        std::vector&lt;CUDATree&gt; trees;</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">MultiLabels</a> multilmap;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;    };</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html">  156</a></span>&#160;    <span class="keyword">class </span><a class="code" href="classpcl_1_1device_1_1_probability_proc.html">ProbabilityProc</a></div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    {</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;      <span class="keyword">public</span>:</div>
<div class="line"><a name="l00160"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html#a54e66e6772bde88551d8f7464e7ca7a0">  160</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_probability_proc.html#a54e66e6772bde88551d8f7464e7ca7a0">ProbabilityProc</a>()</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;        {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;          std::cout &lt;&lt; <span class="stringliteral">&quot;[pcl::device::ProbabilityProc:ProbabilityProc] : (D) : Constructor called&quot;</span> &lt;&lt; std::endl;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;          <span class="comment">//PCL_DEBUG(&quot;[pcl::device::ProbabilityProc:ProbabilityProc] : (D) : Constructor called&quot;);</span></div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html#a3375aab6c67764b53315d1aaa7dafb7a">  167</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_probability_proc.html#a3375aab6c67764b53315d1aaa7dafb7a">~ProbabilityProc</a>() {}</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html#ad5783a1cea3dc5546f05092ec430bbef">  171</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_probability_proc.html#ad5783a1cea3dc5546f05092ec430bbef">CUDA_SelectLabel</a> ( <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Labels</a>&amp; labels, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probabilities);</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html#aa68c0a13b6886b0b79296a11dcb19d1f">  175</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_probability_proc.html#aa68c0a13b6886b0b79296a11dcb19d1f">CUDA_CombineProb</a> ( <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probIn1, <span class="keywordtype">float</span> weight1,</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probIn2, <span class="keywordtype">float</span> weight2, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probOut);</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160; </div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;        <span class="keywordtype">void</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html#a43bd8bc3d945fd04025627f3af26209a">  180</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_probability_proc.html#a43bd8bc3d945fd04025627f3af26209a">CUDA_WeightedSumProb</a> ( <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probIn, <span class="keywordtype">float</span> weight, <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probOut);</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html#a3af72bceb7d4da43575ff0bbaa52d9bf">  184</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_probability_proc.html#a3af72bceb7d4da43575ff0bbaa52d9bf">CUDA_GaussianBlur</a>( <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth,</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probIn,</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a>&amp; <a class="code" href="classpcl_1_1kernel.html">kernel</a>,</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probOut);</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;        <span class="keywordtype">int</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"><a class="line" href="classpcl_1_1device_1_1_probability_proc.html#a2b4aafdbb249cf67bbfe4f2170c200b8">  190</a></span>&#160;        <a class="code" href="classpcl_1_1device_1_1_probability_proc.html#a2b4aafdbb249cf67bbfe4f2170c200b8">CUDA_GaussianBlur</a>( <span class="keyword">const</span> <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">Depth</a>&amp; depth,</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probIn,</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array.html">DeviceArray&lt;float&gt;</a>&amp; <a class="code" href="classpcl_1_1kernel.html">kernel</a>,</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probTemp,</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;                           <a class="code" href="classpcl_1_1gpu_1_1_device_array2_d.html">LabelProbability</a>&amp; probOut);</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    };</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;  }</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;}</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_GPU_PEOPLE_INTERNAL_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclass_cloud_html"><div class="ttname"><a href="class_cloud.html">Cloud</a></div><div class="ttdoc">A wrapper which allows to use any implementation of cloud provided by a third-party library.</div><div class="ttdef"><b>Definition:</b> cloud.h:73</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_multi_tree_live_proc_html"><div class="ttname"><a href="classpcl_1_1device_1_1_multi_tree_live_proc.html">pcl::device::MultiTreeLiveProc</a></div><div class="ttdoc">Processor using multiple trees</div><div class="ttdef"><b>Definition:</b> internal.h:133</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_multi_tree_live_proc_html_a4ae27fb0d7c4b26900806a450ddd1761"><div class="ttname"><a href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a4ae27fb0d7c4b26900806a450ddd1761">pcl::device::MultiTreeLiveProc::process</a></div><div class="ttdeci">void process(const Depth &amp;dmap, Labels &amp;lmap, int FGThresh)</div><div class="ttdoc">same as process, but runs the trick of declaring as background any neighbor that is more than FGThres...</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_multi_tree_live_proc_html_a84f423562c4d6515ca1c47121bb3ee83"><div class="ttname"><a href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a84f423562c4d6515ca1c47121bb3ee83">pcl::device::MultiTreeLiveProc::processProb</a></div><div class="ttdeci">void processProb(const Depth &amp;dmap, Labels &amp;lmap, LabelProbability &amp;prob, int FGThresh)</div><div class="ttdoc">output a probability map from the RDF.</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_multi_tree_live_proc_html_a9845c8920b1ca801d289772b805a8ab5"><div class="ttname"><a href="classpcl_1_1device_1_1_multi_tree_live_proc.html#a9845c8920b1ca801d289772b805a8ab5">pcl::device::MultiTreeLiveProc::~MultiTreeLiveProc</a></div><div class="ttdeci">~MultiTreeLiveProc()</div><div class="ttdoc">Empty destructor</div><div class="ttdef"><b>Definition:</b> internal.h:138</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_multi_tree_live_proc_html_abda82c7e2aa36e862da641753e24d8fd"><div class="ttname"><a href="classpcl_1_1device_1_1_multi_tree_live_proc.html#abda82c7e2aa36e862da641753e24d8fd">pcl::device::MultiTreeLiveProc::MultiTreeLiveProc</a></div><div class="ttdeci">MultiTreeLiveProc(int def_rows=480, int def_cols=640)</div><div class="ttdoc">Constructor with default values, allocates multilmap device memory</div><div class="ttdef"><b>Definition:</b> internal.h:136</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html">pcl::device::ProbabilityProc</a></div><div class="ttdoc">Implementation Class to process probability histograms on GPU</div><div class="ttdef"><b>Definition:</b> internal.h:157</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html_a2b4aafdbb249cf67bbfe4f2170c200b8"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html#a2b4aafdbb249cf67bbfe4f2170c200b8">pcl::device::ProbabilityProc::CUDA_GaussianBlur</a></div><div class="ttdeci">int CUDA_GaussianBlur(const Depth &amp;depth, LabelProbability &amp;probIn, DeviceArray&lt; float &gt; &amp;kernel, LabelProbability &amp;probTemp, LabelProbability &amp;probOut)</div><div class="ttdoc">This will blur the input labelprobability with the given kernel, this version avoids extended allocat...</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html_a3375aab6c67764b53315d1aaa7dafb7a"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html#a3375aab6c67764b53315d1aaa7dafb7a">pcl::device::ProbabilityProc::~ProbabilityProc</a></div><div class="ttdeci">~ProbabilityProc()</div><div class="ttdoc">Default destructor</div><div class="ttdef"><b>Definition:</b> internal.h:167</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html_a3af72bceb7d4da43575ff0bbaa52d9bf"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html#a3af72bceb7d4da43575ff0bbaa52d9bf">pcl::device::ProbabilityProc::CUDA_GaussianBlur</a></div><div class="ttdeci">int CUDA_GaussianBlur(const Depth &amp;depth, LabelProbability &amp;probIn, DeviceArray&lt; float &gt; &amp;kernel, LabelProbability &amp;probOut)</div><div class="ttdoc">This will blur the input labelprobability with the given kernel</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html_a43bd8bc3d945fd04025627f3af26209a"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html#a43bd8bc3d945fd04025627f3af26209a">pcl::device::ProbabilityProc::CUDA_WeightedSumProb</a></div><div class="ttdeci">void CUDA_WeightedSumProb(const Depth &amp;depth, LabelProbability &amp;probIn, float weight, LabelProbability &amp;probOut)</div><div class="ttdoc">This will sum a probability multiplied with it's weight</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html_a54e66e6772bde88551d8f7464e7ca7a0"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html#a54e66e6772bde88551d8f7464e7ca7a0">pcl::device::ProbabilityProc::ProbabilityProc</a></div><div class="ttdeci">ProbabilityProc()</div><div class="ttdoc">Default constructor</div><div class="ttdef"><b>Definition:</b> internal.h:160</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html_aa68c0a13b6886b0b79296a11dcb19d1f"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html#aa68c0a13b6886b0b79296a11dcb19d1f">pcl::device::ProbabilityProc::CUDA_CombineProb</a></div><div class="ttdeci">void CUDA_CombineProb(const Depth &amp;depth, LabelProbability &amp;probIn1, float weight1, LabelProbability &amp;probIn2, float weight2, LabelProbability &amp;probOut)</div><div class="ttdoc">This will combine two probabilities according their weight</div></div>
<div class="ttc" id="aclasspcl_1_1device_1_1_probability_proc_html_ad5783a1cea3dc5546f05092ec430bbef"><div class="ttname"><a href="classpcl_1_1device_1_1_probability_proc.html#ad5783a1cea3dc5546f05092ec430bbef">pcl::device::ProbabilityProc::CUDA_SelectLabel</a></div><div class="ttdeci">void CUDA_SelectLabel(const Depth &amp;depth, Labels &amp;labels, LabelProbability &amp;probabilities)</div><div class="ttdoc">This will merge the votes from the different trees into one final vote, including probabilistic's</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array2_d_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array2_d.html">pcl::gpu::DeviceArray2D</a></div><div class="ttdoc">DeviceArray2D class</div><div class="ttdef"><b>Definition:</b> device_array.h:155</div></div>
<div class="ttc" id="aclasspcl_1_1gpu_1_1_device_array_html"><div class="ttname"><a href="classpcl_1_1gpu_1_1_device_array.html">pcl::gpu::DeviceArray</a></div><div class="ttdoc">DeviceArray class</div><div class="ttdef"><b>Definition:</b> device_array.h:58</div></div>
<div class="ttc" id="aclasspcl_1_1kernel_html"><div class="ttname"><a href="classpcl_1_1kernel.html">pcl::kernel</a></div><div class="ttdef"><b>Definition:</b> kernel.h:46</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_c_u_d_a_tree_html"><div class="ttname"><a href="structpcl_1_1device_1_1_c_u_d_a_tree.html">pcl::device::CUDATree</a></div><div class="ttdoc">Struct that holds a single RDF tree in GPU</div><div class="ttdef"><b>Definition:</b> internal.h:118</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_connected_components_html"><div class="ttname"><a href="structpcl_1_1device_1_1_connected_components.html">pcl::device::ConnectedComponents</a></div><div class="ttdef"><b>Definition:</b> internal.h:84</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_dilatation_html"><div class="ttname"><a href="structpcl_1_1device_1_1_dilatation.html">pcl::device::Dilatation</a></div><div class="ttdef"><b>Definition:</b> internal.h:102</div></div>
<div class="ttc" id="astructpcl_1_1device_1_1_intr_html"><div class="ttname"><a href="structpcl_1_1device_1_1_intr.html">pcl::device::Intr</a></div><div class="ttdoc">Camera intrinsics structure</div><div class="ttdef"><b>Definition:</b> internal.h:68</div></div>
<div class="ttc" id="astructpcl_1_1gpu_1_1people_1_1trees_1_1_node_html"><div class="ttname"><a href="structpcl_1_1gpu_1_1people_1_1trees_1_1_node.html">pcl::gpu::people::trees::Node</a></div><div class="ttdef"><b>Definition:</b> tree.h:93</div></div>
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